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Keywords: dynamics
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Journal Articles
Article Type: Discussions
J. Mechanisms Robotics. October 2022, 14(5): 055501.
Paper No: JMR-20-1032
Published Online: August 9, 2022
... but not the converse. Other relevant information regarding Lagrange stability issues is found in Ref. [ 6 , pp. 27, 30, 59, 101–112]. “It should be noted that the notion of Lagrange stability pertains to the uniform boundedness and uniform ultimate boundedness of dynamical systems, as described extensively in Ref...
Journal Articles
Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-21-1517
Published Online: August 4, 2022
... 2022 26 07 2022 04 08 2022 Email: yilangl@andrew.cmu.edu Email: barati@cmu.edu Bio-inspired design Control dynamics Journal of Mechanisms and Robotics. Received October 11, 2021; Accepted manuscript posted July 26, 2022. doi:10.1115/1.4055167 Copyright © 2022 by ASME...
Journal Articles
Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1146
Published Online: July 22, 2022
..., the robot centroidal momentum and dynamics models, and a proposed altitude-control model. Then the whole-body motion references can be achieved by giving the robot centroidal-motion reference, including the centroidal translational motion in the forward and lateral directions in the inertial frame...
Journal Articles
Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-21-1647
Published Online: July 14, 2022
...Fabian A. Lara-Molina This paper presents a novel approach to obtain the dynamic model of flexible-link manipulators based on the stochastic finite-element method. The links and elements of flexible manipulators are affected by uncertainties. The main sources of uncertainties include the variation...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021004.
Paper No: JMR-21-1558
Published Online: June 21, 2022
... of KRPMs with a reconfigurable platform is introduced. The dynamic equations of motion are derived. Then, a neural network approach is used for the motion planning of a manipulator in the new class. The multilayer perceptron-based neural network (MLP) is used for training data. The results show...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2023, 15(2): 024501.
Paper No: JMR-21-1681
Published Online: June 21, 2022
... of M echanisms and R obotics . 15 12 2021 13 05 2022 13 05 2022 21 06 2022 foldable reconfigurable variable wheelbase multi-terrain vehicle wheeled robot control dynamics folding and origami mechanism design mobile robots robot design theoretical kinematics...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021005.
Paper No: JMR-21-1729
Published Online: June 21, 2022
... for friction stir welding. The dynamic model of the 3-DOF redundant parallel manipulator with four kinematic chains is derived by using the principle of virtual work. The solution of the dynamics is not unique, and the range of four actuator torques constitutes a 4D generalized rectangle. A torque optimization...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061007.
Paper No: JMR-21-1674
Published Online: June 6, 2022
...-reconfiguring robots by utilizing magnetic forces between the chain components as a driving force for the folding process. Due to the constraints introduced by the joints between the chain components, simulation of the dynamics of longer chains is computationally intensive and challenging. This article presents...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011013.
Paper No: JMR-22-1005
Published Online: June 6, 2022
..., the passive cables, the joints, and the end-effector, the OSC becomes more and more complicated. However, there is currently no robust and effective control method to solve the OSC problem of such types MCDHRs. In this paper, an OSC framework of CAP-MCDHRs using a dynamics-based iterative-learning-control...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041009.
Paper No: JMR-21-1548
Published Online: May 26, 2022
... of waterbomb tubes under the proposed kinematic model, we classify solutions into three classes: cylinder solution, wave-like solution, and finite solution. Through the stability and bifurcation analyses of the dynamical system, we investigate how the behavior of waterbomb tube changes when the crease pattern...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011012.
Paper No: JMR-21-1588
Published Online: May 12, 2022
...Nanyan Shen; Hengming Yuan; Jing Li; Zirui Wang; Ninghe Lu; Yushun Lu The unique structure of hybrid robot makes its dynamic characteristic different from that of the traditional machine tools. Therefore, the dynamic model is crucial to both designing and application of hybrid robot. In this paper...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011010.
Paper No: JMR-21-1512
Published Online: May 2, 2022
...Fuli Zhang; Zhaohui Yuan; Jianrui Zhang Flexible manipulators are longer and lighter, which allows them to undergo elastic deformation and vibration. It affects the working accuracy and flexibility of the robot. To enhance the flexibility and flexibility of robot positioning, accurate dynamics...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011007.
Paper No: JMR-21-1666
Published Online: April 25, 2022
... manufacturing lines. However, due to the multi-closed loop between azimuth pitch rotations and hybrid module, the workspace is coupled, so that the mechanism has problems in building the forward and inverse position, kinematics, and dynamics analytical models, numerical solution calculation speed, and multi...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061002.
Paper No: JMR-21-1670
Published Online: April 21, 2022
...Chong Zhao; Ke Wang; Haifeng Zhao; Hongwei Guo; Rongqiang Liu The kinematics and dynamics of n(3RRlS) reconfigurable series–parallel manipulators (RSPMs) are the theoretical foundations for capturing noncooperative targets in space. In this study, a unified kinematic and dynamic modeling method...
Journal Articles
Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-21-1398
Published Online: April 12, 2022
...Frederico F. A. Silva; Juan José Quiroz-Omaña; Bruno V Adorno This paper presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton-Euler formulation and uses twists and wrenches, which...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041004.
Paper No: JMR-21-1536
Published Online: March 7, 2022
... system, based on the kinematics of the modules and the dynamics of the vehicle derived using Kane’s equations. Our approach can be extended for an n-bodies system. A three-segment motion is illustrated with simplified scenarios in the horizontal plane using head actuation only. Finally, a structural...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051004.
Paper No: JMR-21-1235
Published Online: February 18, 2022
... problem (BVP) based on the robot dynamics. Experimental results of the suggested approach on a five-bar mechanism show the drastic reduction of input torques and therefore of energetic losses. To validate the theoretical formulations for performing energy-efficient motions, here, we define two sets...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. June 2022, 14(3): 034503.
Paper No: JMR-21-1261
Published Online: December 9, 2021
... of differential flatness, which can be applied also to spatial mechanisms [ 19 ]. In general, the dynamic model of an under-actuated manipulator can be developed using the Lagrange equations: (1) d d t ( δ L δ q ˙ ) − δ L δ q = τ , L = T − U...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031013.
Paper No: JMR-21-1127
Published Online: December 8, 2021
... and R obotics . 04 03 2021 24 10 2021 02 11 2021 08 12 2021 compliant mechanisms dynamics mechanism design mechanism synthesis robot design Stichting voor de Technische Wetenschappen 10.13039/501100003958 14665 Unlike rigid-body mechanisms...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2022, 14(2): 024504.
Paper No: JMR-20-1626
Published Online: September 20, 2021
...Jinhao Duan; Zhufeng Shao; Zhaokun Zhang; Fazhong Peng Compared with serial robots, parallel robots have the advantages of high stiffness and good dynamics. By replacing the rigid limbs with cables, the cable-driven parallel robot (CDPR) is greatly simplified in structure and lightweight. We...